#ifndef __BSP_C610_H
#define __BSP_C610_H

#include "bsp_can.h"

#define M2006_ANGLE_MIN 0
#define M2006_ANGLE_MAX 8191.f
#define M2006_SPEED_ABS_MAX	18000
#define M2006_CURRENT_MAX  10000

#define RIGHT_MOTOR_ID  0x201
#define LEFT_MOTOR_ID 0x202


typedef struct
{
	int16_t current;		//
	uint16_t can_id;		//can id
	uint16_t ecd_angle;	//encoder angle
	uint16_t last_ecd_angle;		//last angle
	int16_t vrpm;				//speed - unit:rpm
	int16_t moment;			//moment
	int32_t mileage;		//
	float circle_cnt;		//
	void *queue;				//
}motor_info_t;

int32_t c610_get_speed(uint16_t std_id);
int32_t c610_get_mileage(uint16_t std_id);
void c610_can_recv_callback(uint16_t std_id,uint8_t *data);
#endif


